Online performance evaluation of RLG INS based on joint rotation and modulation

Lin WANG; Guo WEI; Jun-xiang LIAN; Jun-bo TIE

doi:10.3788/OPE.20182603.0578

您当前的位置：

首页 >

文章列表页 >

Online performance evaluation of RLG INS based on joint rotation and modulation

MICRO/Nano Technology and Fine Mechanics | 更新时间：2020-07-05

- Online performance evaluation of RLG INS based on joint rotation and modulation
- Optics and Precision Engineering Vol. 26, Issue 3, Pages: 578-587(2018)
- 作者机构：
  
  1.国防科技大学机电工程与自动化学院, 湖南长沙 410073
  2.国防科技大学光电科学与工程学院, 湖南长沙 410073
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20182603.0578
  CLC： U666.1
- Received：10 July 2017，
  
  Accepted：02 September 2017，
  
  Published：25 March 2018
- 稿件说明：
移动端阅览
Lin WANG, Guo WEI, Jun-xiang LIAN, et al. Online performance evaluation of RLG INS based on joint rotation and modulation[J]. Optics and precision engineering, 2018, 26(3): 578-587.
DOI：

Lin WANG, Guo WEI, Jun-xiang LIAN, et al. Online performance evaluation of RLG INS based on joint rotation and modulation[J]. Optics and precision engineering, 2018, 26(3): 578-587. DOI： 10.3788/OPE.20182603.0578.

摘要

无外界基准信息时，针对舰艇单、双轴旋转调制激光陀螺航海惯导冗余配置情况下双轴旋转惯导间性能的在线评估问题，提出了联合旋转调制激光陀螺航海惯导相对性能的在线评估方法。一套单轴旋转惯导分别与待评估的双轴旋转惯导构建联合误差状态卡尔曼滤波器，状态为各系统位置误差、速度误差、姿态误差的差值及各自的陀螺漂移、加速度计零偏，以系统间的位置、速度差值为观测量，通过联合旋转调制策略编排改变系统间的相对姿态，可观性分析表明，包括单轴旋转惯导方位陀螺漂移在内的所有状态均完全可观；以不同滤波器估计得到的单轴旋转惯导方位陀螺漂移估计值的标准差为评价指标，对双轴旋转惯导随机误差进行在线评估。半实物仿真和实际实验结果表明：双轴旋转惯导激光陀螺随机误差差异的区分度可达10%；144 h（6天）导航时间内，以单轴旋转惯导方位陀螺漂移估计值的标准差为评价指标，可以实现不同双轴旋转惯导相对性能的在线评估。该方法为旋转调制激光陀螺航海惯导冗余配置情况下的系统优选提供了理论依据。

Abstract

Modern ships are usually redundantly equipped with one-axis indexing ring laser gyro (RLG) marine inertial navigation system (MINS) and several two-axis indexing RLG MINS. In order to online evaluate the relative performance of the redundant two-axis indexing RLG MINS

an online evaluation method based on joint rotation and modulation was proposed without using external benchmark information. Several joint error Kalman filters were constructed. The system states of each Kalman filter included the position error differences

the velocity error differences and the attitude error differences between the one-axis indexing RLG MINS and corresponding two-axis indexing RLG MINS

as well as the gyro drifts and horizontal accelerometer biases. With the position and velocity difference between the systems being observations

the observability analysis showed that all states including azimuth gyro drift of the one-axis indexing MINS were observable if the relative attitude between the systems was changed by the joint rotation and modulation. The azimuth gyro drift estimation standard deviation of the one-axis indexing MINS were defined as the assessment criteria to online evaluate the random errors of the two-axis indexing MINS. The semi-physical simulations and the experimental results show that the RLG random error difference of the two-axis indexing MINS can be distinguished at a level of 10% noise and the position accuracies of different two-axis indexing MINS are online evaluated according to the azimuth gyro drift standard deviation of the one-axis indexing MINS during 144 h navigation time. The proposed method provides theoretical basis for optimum system choosing in the case of one-axis and two-axis indexing RLG MINS redundant configuration.

关键词

Keywords

references

孙伟强, 张礼伟, 熊崴, 等.激光陀螺惯组系统级标定方法[J].中国惯性技术学报, 2016, 24(1):9-13.

SUN W Q, ZHANG L W, XIONG W, et al .. Systematic calibration method for RLG inertial measurement unit[J]. Journal of Chinese Inertial Technology, 2016, 24(1):9-13. (in Chinese)

LEVINSON E, MAJURE R. Accuracy enhancement techniques applied to the marine ring laser inertial navigator (MARLIN)[J]. Navigation, 1987, 34(1):64-86.

TUCKER T, LEVINSON E. The AN/WSN-7B marine gyrocompass/navigator[C]. Proceedings of the 2000 National Technical Meeting of The Institute of Navigation, 2000: 348-357.

魏国. 二频机抖激光陀螺双轴旋转惯性导航系统若干关键技术研究[D]. 长沙: 国防科学技术大学, 2013.

WEI G. Research on Some Key Technologies for Double-axis Rotation Inertial Navigation System with Mechanically Dithered Ring Laser Gyroscope[D]. Changsha: National University of Defense Technology, 2013. (in Chinese)

YUAN B L, LIAO D, HAN S L. Error compensation of an optical gyro INS by multi-axis rotation[J]. Measurement Science and Technology, 2012, 23(2):025102.

ZHENG ZH CH, HAN S L, ZHENG K F. An eight-position self-calibration method for a dual-axis rotational inertial navigation system[J]. Sensors and Actuators A:Physical, 2015, 232:39-48.

ZHANG Q, WANG L, LIU Z J, et al .. An accurate calibration method based on velocity in a rotational inertial navigation system[J]. Sensors, 2015, 15(8):18443-18458.

GAO P Y, LI K, WANG L, et al .. A self-calibration method for tri-axis rotational inertial navigation system[J]. Measurement Science and Technology, 2016, 27(11):115009.

ZHENG ZH CH, HAN S L, YUE J, et al .. Compensation for stochastic error of gyros in a dual-axis rotational inertial navigation system[J]. Journal of Navigation, 2016, 69(1):169-182.

CAI Q ZH, YANG G L, SONG N F, et al .. Analysis and calibration of the gyro bias caused by geomagnetic field in a dual-axis rotational inertial navigation system[J]. Measurement Science and Technology, 2016, 27(10):105001.

BAR-ITZHACK I Y, GOSHEN-MESKIN D. Observability analysis of piece-wise constant systems I:theory[J]. IEEE Transactions on Aerospace and Electronic Systems, 1992, 28(4):1056-1067.

SIMON D. Optimal State Estimation:Kalman, H Infinity, and Nonlinear Approaches[M]. New Jersey:John Wiley & Sons, 2006.

于旭东, 王宇, 张鹏飞, 等.单轴旋转惯导系统中陀螺漂移的精确校准[J].光学精密工程, 2012, 20(6):1201-1207.

YU X D, WANG Y, ZHANG P F, et al .. Calibration of RLG drift in single-axis rotation INS[J]. Opt. Precision Eng., 2012, 20(6):1201-1207. (in Chinese)

于旭东, 张鹏飞, 汤建勋, 等.机抖激光陀螺温度场的有限元模拟与实验[J].光学精密工程, 2010, 18(4):913-920.

YU X D, ZHANG P F, TANG J X, et al .. Finite element analysis and experiments of temperature fields of mechanically dithered ring laser gyroscopes[J]. Opt. Precision Eng., 2010, 18(4):913-920. (in Chinese)

于旭东, 雷雯, 刘畅.随机振动下光学谐振腔腔体形变及变动规律[J].光学精密工程, 2017, 25(2):281-288.

YU X D, LEI W, LIU CH. Deformation law of optical resonant cavity under random vibration environment[J]. Opt. Precision Eng., 2017, 25(2):281-288. (in Chinese)

Views

346

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Compensation for dynamic measurement errors of time grating sensor

Related Author

SUN Shi-zheng

PENG Dong-lin

ZHENG Fang-yan

WU Liang

Related Institution

School of Instrument Science and Optoelectronic Engineering, Hefei University of Technology

Engineering Research Center of Mechanical Testing Technology and Equipment of the Ministry of Education, Chongqing University of Technology

Chongqing Key Laboratory of Time-grating Sensing and Advanced Testing Technology, Chongqing University of Technology

AI问答

Address：No.3888 Dong Nanhu Road, Changchun, Jilin, China Postal code：130033
Tel：0431-86176855 Email：gxjmgc@ciomp.ac.cn
Technical support is provided by Beijing Founder electronics co., LTD 吉ICP备11002662号-17 京公网安备11010802024621
It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.

⁰